Unitree interface

[Zolkin1]

Interface for the Unitree Robots (G1, Go2).

Some features include:

• IMU outputs
• Joint encoder outputs
• Take in PDFeedforward messages

Todo:

• Update Mujoco sim to better match the hardware Update Mujoco Simulation: Remove u_mujoco, allow for setting gains in real time #131
• Add second IMU for G1
• Add support for G1 hand [Might be added later]
• Test both G1 and Go2 on hardware when all features are completed
• Add support for the Go2
• Lidar support for Go2
• Foot contact support for Go2
• User defined safety features (i.e. user could set max torque, etc...) [Might be added later]
• Access to high level inputs [Might be added later]
• Docs update
• Estimation messages -> make FloatingBase, PlanarBase, FixedBase, so that body pose can be pose msg, ect.
• Make OBELISK_BUILD_UNITREE=true set programmatically
• Make ROS_DOMAIN_ID set programmatically
• For the G1, add config options for FULL, NO-HAND, FIXED-WAIST and then only require/check/update the corresponding joints.
• Add ping to the docker image
• Add evtest to the docker image
• Need to verify the high level functions and the motion control with the FSM works as expected